Commit 5451f8ba authored by Justin Carpentier's avatar Justin Carpentier

algo/regressor: cosmetic

parent 32d7db62
......@@ -242,10 +242,11 @@ namespace pinocchio
const JointIndex i = jmodel.id();
const JointIndex parent = model.parents[i];
data.jointTorqueRegressor.block(jmodel.idx_v(),10*(int(col_idx)-1),jmodel.nv(),10) = jdata.S().transpose()*data.bodyRegressor;
data.jointTorqueRegressor.block(jmodel.idx_v(),10*(Eigen::DenseIndex(col_idx)-1),
jmodel.nv(),10) = jdata.S().transpose()*data.bodyRegressor;
if(parent>0)
forceSet::se3Action(data.liMi[i],data.bodyRegressor,data.bodyRegressor);
forceSet::se3Action(data.liMi[i],data.bodyRegressor,data.bodyRegressor);
}
};
......
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